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36 lines
2.1 KiB
Markdown
36 lines
2.1 KiB
Markdown
# SensorCombined (Повідомлення UORB)
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Вимірювання сенсорів у вигляді одиниць SI.
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Ці поля масштабуються та компенсуються зміщенням, де це можливо, і не змінюються з ревізіями плати та оновленнями сенсора.
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorCombined.msg)
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```c
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# Sensor readings in SI-unit form.
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# These fields are scaled and offset-compensated where possible and do not
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# change with board revisions and sensor updates.
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uint64 timestamp # time since system start (microseconds)
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int32 RELATIVE_TIMESTAMP_INVALID = 2147483647 # (0x7fffffff) If one of the relative timestamps is set to this value, it means the associated sensor values are invalid
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# gyro timstamp is equal to the timestamp of the message
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float32[3] gyro_rad # average angular rate measured in the FRD body frame XYZ-axis in rad/s over the last gyro sampling period
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uint32 gyro_integral_dt # gyro measurement sampling period in microseconds
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int32 accelerometer_timestamp_relative # timestamp + accelerometer_timestamp_relative = Accelerometer timestamp
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float32[3] accelerometer_m_s2 # average value acceleration measured in the FRD body frame XYZ-axis in m/s^2 over the last accelerometer sampling period
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uint32 accelerometer_integral_dt # accelerometer measurement sampling period in microseconds
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uint8 CLIPPING_X = 1
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uint8 CLIPPING_Y = 2
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uint8 CLIPPING_Z = 4
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uint8 accelerometer_clipping # bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame
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uint8 gyro_clipping # bitfield indicating if there was any gyro clipping (per axis) during the integration time frame
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uint8 accel_calibration_count # Calibration changed counter. Monotonically increases whenever accelermeter calibration changes.
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uint8 gyro_calibration_count # Calibration changed counter. Monotonically increases whenever rate gyro calibration changes.
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```
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